A single power source is used to achieve the opening and closing rotary motion of the lunar surface sample collection and processing device

Abstract

The application belongs to the technical field of lunar resource collection, and specifically discloses a lunar surface sample collection and processing device capable of realizing opening and closing rotary motion by a single power source, which comprises a shell, a fixing seat, a lead screw, a rotary drive assembly and a sample pickup assembly, wherein the shell is internally provided with a guide groove, the fixing seat is rotationally connected to the lower portion of the shell through a bearing, the lead screw is coaxially arranged in the center of the shell and the fixing seat, the lead screw is circumferentially fixedly connected to the fixing seat and axially movably connected to the fixing seat, the rotary drive assembly drives a nut to rotate, the nut drives the lead screw to rotate around its own axis and to move linearly along its own axis in combination with the guide groove, and the sample pickup assembly is connected to the lower end of the lead screw and rotates with the lead screw to realize opening and closing. The device can realize the linkage action of the rotary motion of the clamping claw and the opening and closing of the claw by only one power source, realizes the lightweight of the device, improves the sampling efficiency, and enhances the adaptability to the complex lunar terrain.

Description

Technical Field

[0001] This invention belongs to the field of lunar resource acquisition technology, specifically a lunar surface sample acquisition and processing device that uses a single power source to achieve opening, closing, and rotational motion. Background Technology

[0002] The collection of lunar surface rock and soil samples is one of the core components of lunar exploration missions. Existing lunar sampling devices generally suffer from problems such as limited functionality, complex structure, and insufficient adaptability to the lunar surface. These problems are mainly reflected in the following aspects: the opening and closing of the gripper and the rotational alignment of the gripper in traditional sampling devices require two separate motors to drive and control them. One motor provides linear power for opening / closing the gripper, while the other motor provides rotational power for rotating the gripper to align with the sample delivery position. The dual-motor setup not only significantly increases the overall mass and volume of the device and the load pressure on the lunar surface, but also increases the complexity of the transmission mechanism. In the extreme environment of high lunar dust and low gravity on the lunar surface, the probability of failure of motors and transmission components is significantly increased. At the same time, the opening, closing, and rotational actions of traditional devices are performed in steps, resulting in a long overall time consumption for sample preparation, gripping, and transportation, low collection efficiency, and difficulty in adapting to the sampling needs of the uneven and complex terrain of the lunar surface.

[0003] Therefore, developing a lunar surface sample collection and processing device that can achieve the linkage of gripper opening and closing and rotation using only a single power source, is lightweight and highly reliable, has become an urgent need in the field of lunar exploration technology. Summary of the Invention

[0004] The purpose of this invention is to provide a lunar surface sample collection and processing device that achieves opening and closing rotational motion with a single power source, so as to solve the problems existing in the prior art.

[0005] To achieve the above objectives, the present invention provides a lunar surface sample collection and processing device with a single power source for opening, closing, and rotating motion, comprising: a housing, a fixed base, a lead screw, a rotary drive assembly, and a sample pickup assembly. The housing has a guide groove. The fixed base is rotatably connected to the lower part of the housing via bearings. The lead screw coaxially passes through the center of the housing and the fixed base, and is circumferentially fixed to the fixed base while axially movable. The rotary drive assembly connects to and drives a lead screw nut to rotate. The lead screw nut is axially fixed and threaded to the upper end of the lead screw. A guide rod is fixedly connected to the middle of the lead screw, and the guide rod extends into the guide groove. Under the drive of the lead screw nut and the constraint of the guide groove, the lead screw achieves rotation around its own axis and axial linear motion along its own axis. The sample pickup assembly is connected to the lower end of the lead screw and rotates with the rotation of the lead screw, and opens and closes with the axial linear motion of the lead screw.

[0006] Preferably, the housing is a sealed structure.

[0007] Further preferably, the guide groove is a spiral guide groove.

[0008] Further preferably, the lead screw and the fixed seat are connected by a key.

[0009] Further preferably, the rotary drive assembly includes a drive motor and a spur gear transmission pair. The drive motor is mounted on the housing and its output end is connected to the driving wheel of the spur gear transmission pair. The nut is integrated into the driven wheel of the spur gear transmission pair.

[0010] Further preferably, a limiting hole coaxial with the lead screw is fixedly provided below the fixed base. The sample pickup assembly includes a pickup claw, a flexible connector, and a push rod connector. The pickup claw includes a first claw body and a second claw body that can be docked as a whole. The push rod connector is located above the limiting hole and is fixedly connected to the lower end of the lead screw. The flexible connector includes a first spring, a second spring, a third spring, and a fourth spring. The first spring and the second spring are respectively fixedly connected to both sides of the fixed base. The third spring and the fourth spring pass through the limiting hole and one end is fixedly connected to the push rod connector, and the other end is fixedly connected to the free end of the first spring and the second spring, respectively. The first claw body is connected to the connecting end of the first spring and the third spring, and the second claw body is connected to the connecting end of the second spring and the fourth spring.

[0011] Further preferably, the upper outer wall of the housing is provided with a robotic arm docking assembly for rigid connection with an external lunar exploration robotic arm.

[0012] Further preferably, a storage frame docking assembly is welded to the outside of the housing for docking with the sample storage frame.

[0013] Further preferably, the picking claw is adapted to hold lunar rocks with a size of 15mm to 45mm.

[0014] The lunar surface sample collection and processing device provided by this invention, which achieves opening and closing rotational motion with a single power source, can realize the linkage action of the gripper rotating and opening and closing with only one power source, eliminating the need for the rotary motor of traditional devices, realizing the device's lightweight design, improving sampling efficiency, enhancing adaptability to complex lunar terrain, and having a compact structure and good sealing performance, which can effectively resist lunar dust interference. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the lunar surface sample collection and processing device proposed in this invention, which uses a single power source to achieve opening and closing rotational motion.

[0016] Figure 2 A schematic diagram of the lunar surface sample collection and processing device after the outer shell has been removed;

[0017] Figure 3 for Figure 1 A sectional view. Detailed Implementation

[0018] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0019] like Figures 1 to 3 As shown, this embodiment of the invention provides a lunar surface sample collection and processing device that achieves opening and closing rotational motion with a single power source, including: a housing 1, a fixed base 2, a lead screw 3, a rotational drive assembly 4, and a sample pickup assembly. The housing 1 provides structural support for the entire device, and a guide groove 11 is provided inside the housing 1. The fixed base 2 is rotatably connected to the lower part of the housing 1 via a bearing 7. The fixed base 2 can only rotate relative to the housing 1 and cannot move axially. The lead screw 3 is coaxially inserted through the center of the housing 1 and the fixed base 2, and is circumferentially fixed to the fixed base 2 while axially movable. The rotary drive assembly 4 connects to and drives the lead screw nut to rotate. The lead screw nut is axially fixed and has only rotational freedom. The lead screw nut is threadedly engaged with the upper end of the lead screw 3. A guide rod 31 is fixedly connected to the middle of the lead screw 3. The guide rod 31 extends into the guide groove 11 and slides in the guide groove 11. Under the drive of the lead screw nut and the constraint of the guide groove 11, the lead screw 3 achieves rotation around its own axis and axial linear motion along its own axis. The sample pickup assembly is connected to the lower end of the lead screw 3 and rotates with the rotation of the lead screw 3. It opens and closes with the axial linear motion of the lead screw 3.

[0020] As an improvement to the technical solution, the housing 1 is a sealed structure used to prevent lunar dust from entering the internal transmission structure.

[0021] As an improvement to the technical solution, the guide groove 11 is a helical guide groove (not shown in the figure), used to force the lead screw 3 to rotate synchronously during axial movement. Alternatively, the guide groove 11 can also be composed of a continuous combination of a straight groove and a helical groove (e.g., Figure 3 As shown, the linear groove is used to constrain the lead screw 3 to make axial movement, and the spiral groove is used to constrain the lead screw 3 to rotate synchronously during axial movement, so as to realize the opening, closing and rotation of the sample picking component.

[0022] As an improvement to the technical solution, the lead screw 3 and the fixed seat 2 are connected by a key to achieve synchronous rotation of the fixed seat and the lead screw.

[0023] As an improvement to the technical solution, the rotary drive assembly 4 includes a drive motor 41 and a spur gear transmission pair 42. The drive motor 41 is mounted on the housing 1 and its output end is connected to the driving wheel of the spur gear transmission pair 42. The nut is integrated inside the driven wheel of the spur gear transmission pair.

[0024] As an improvement to the technical solution, a limiting hole 21 coaxial with the lead screw 3 is fixedly provided below the fixed base 2. The sample pickup assembly includes a pickup claw, a flexible connector 53, and a push rod connector 54. The pickup claw includes a first claw body 51 and a second claw body 52 that can be docked as a whole. The push rod connector 54 is located above the limiting hole 21 and is fixedly connected to the lower end of the lead screw 3. The flexible connector 53 includes a first spring 531, a second spring 532, a third spring 533, and a fourth spring 534. The first spring 531 and the second spring 532 are fixedly connected to both sides of the fixed base 2, respectively. The third spring 533 and the fourth spring 534 pass through the limiting hole 21, with one end fixedly connected to the push rod connector 54 and the other end fixedly connected to the first spring 531 and the second spring 532. The free end is fixedly connected. The first claw body 51 is connected to the connecting end of the first spring 531 and the third spring 533, and the second claw body 52 is connected to the connecting end of the second spring 532 and the fourth spring 534. When the lead screw moves downward along the axial direction, the push rod connector pushes the third spring 533 and the fourth spring 534 downward, and the ends of the third spring 533 and the fourth spring 534 open, so that the first claw body 51 and the second claw body 52 separate, that is, the pickup claw opens. When the lead screw moves upward along the axial direction, the push rod connector pulls the third spring 533 and the fourth spring 534 upward, and the limiting hole limits the opening angle of the ends of the third spring 533 and the fourth spring 534, so that the first claw body 51 and the second claw body 52 merge, that is, the pickup claw closes. The fixed seat rotates synchronously with the lead screw. Therefore, when the lead screw rotates, it can drive the entire sample pickup assembly to rotate.

[0025] As an improvement to the technical solution, the upper outer wall of the housing 1 is provided with a robotic arm docking assembly 8, which is used to rigidly connect with an external lunar exploration robotic arm to realize the spatial displacement of the device.

[0026] As an improvement to the technical solution, a storage frame docking assembly 9 is welded to the outside of the housing 1 for precise docking with the sample storage frame to complete sample transfer.

[0027] As an improvement to the technical solution, the picking claw is adapted to clamp lunar rocks with a size of 15mm to 45mm, and can complete the shoveling and collection of surface lunar soil.

[0028] In this invention, sample collection and processing includes: sample clamping, in-situ temporary storage, attitude adjustment, stable transfer and docking release, etc.

[0029] This lunar surface sample collection and processing device, powered by a single power source, relies on the spatial positioning of an external robotic arm. Using a rotary drive assembly as its sole power source, it enables the picking claw to rotate and open / close simultaneously, completing the collection, temporary storage, and transfer of lunar rocks / soil. The specific steps are as follows:

[0030] Sampling preparation: By manipulating an external robotic arm, the device is moved to the target sampling point on the lunar surface to complete the initial spatial positioning. Then, the drive motor of the rotary drive assembly is started. The drive motor drives the lead screw to rotate through the spur gear transmission pair, transmitting the rotational power to the lead screw. Under the constraint of the guide groove, the lead screw synchronously achieves rotation around its own axis and downward axial linear motion. When the lead screw moves downward, it pushes the push rod connector to move down, which in turn pushes the flexible spring to produce elastic deformation, causing the two claws to slowly open. At the same time, the lead screw rotates and drives the fixed base to rotate synchronously. The picking claw rotates synchronously with the lead screw, realizing rotation and opening at the same time, until the picking claw opens to the preset angle and rotates to the optimal angle facing the target sample, at which point the drive motor stops.

[0031] Sample gripping: The spatial position of the external robotic arm fine-tuning device is adjusted so that the open pickup claws completely enclose the target sample (lunar rock or surface lunar soil); the drive motor is controlled to rotate in the opposite direction, driving the lead screw to synchronously achieve reverse rotation and upward axial linear motion; when the lead screw moves backward, it pulls the push rod connector, which drives the flexible spring connected to it to reset, pulling the pickup claws to slowly close. At the same time, the lead screw rotates in the opposite direction and drives the fixed base to rotate in the opposite direction synchronously. The pickup claws rotate in the opposite direction synchronously with the lead screw, achieving rotation and closing at the same time, until the pickup claws are completely closed, clamping and fixing the sample and completing temporary storage, at which point the drive motor stops.

[0032] Sample Transfer: The external robotic arm is manipulated to move the sample-holding device to the sample storage frame. The device is then docked with the sample storage frame via the docking assembly. Based on the docking angle of the storage frame, the drive motor is activated to perform a small-stroke forward / reverse rotation, causing the pickup claw to open and close at a small angle while rotating back, adjusting to the standard sample delivery posture. The docking latch precisely aligns with the slot in the storage frame, achieving high-precision fine-tuning of the sample posture. The drive motor continues to rotate forward, and the lead screw moves downward to push the push rod connector against the flexible spring. The pickup claw rotates back while slowly opening. In the low-gravity environment of the moon, the sample smoothly slides into the storage frame, completing the non-destructive release and transfer of the sample.

[0033] Reset and Recovery: After the sample transfer is completed, the drive motor is controlled to rotate in the opposite direction, driving the lead screw to move upward in an axial linear motion and simultaneously rotate in the opposite direction. The pick-up claw rotates and closes at the same time, restoring the device to its initial posture. If sampling is required to continue, the external robotic arm directly drives the device to the next sampling point and repeats the above steps. If the sampling operation is completed, the external robotic arm drives the device back to the designated storage position of the lunar probe, and the operation ends.

[0034] Throughout the entire operation, this device can achieve the opening, closing, and rotation of the pickup claw using only a single power source. It has a compact and lightweight structure, good sealing performance, and can effectively resist lunar dust interference. It has high sampling efficiency and is suitable for collaborative collection of loose lunar soil and lunar rocks in complex lunar terrain.

[0035] The specific embodiments of the present invention are written in a progressive manner, emphasizing the differences between the various implementation schemes, and the similar parts can be referred to each other.

[0036] The embodiments of the present invention have been described in detail above with reference to the accompanying drawings. However, the present invention is not limited to the above embodiments. Within the scope of knowledge possessed by those skilled in the art, various changes can be made without departing from the spirit of the present invention.

Claims

1. A lunar surface sample collection and processing device that achieves opening, closing, and rotary motion using a single power source, characterized in that, include: The assembly comprises a housing (1), a fixed base (2), a lead screw (3), a rotary drive assembly (4), and a sample pickup assembly. The housing (1) has a guide groove (11). The fixed base (2) is rotatably connected to the lower part of the housing (1) via a bearing (7). The lead screw (3) is coaxially inserted through the center of the housing (1) and the fixed base (2). The lead screw (3) is circumferentially fixed to the fixed base (2) and axially movable. The rotary drive assembly (4) connects to and drives a lead screw nut to rotate. The lead screw nut is axially fixed. The nut is threaded into the upper end of the lead screw (3), and a guide rod (31) is fixedly connected to the middle of the lead screw (3). The guide rod (31) extends into the guide groove (11). The lead screw (3) rotates around its own axis and moves axially along its own axis under the drive of the nut and the constraint of the guide groove (11). The sample pickup assembly is connected to the lower end of the lead screw (3) and rotates with the rotation of the lead screw (3). It opens and closes with the axial linear movement of the lead screw (3).

2. The lunar surface sample collection and processing device according to claim 1, characterized in that, The housing (1) is a sealed structure.

3. The lunar surface sample collection and processing device according to claim 1, characterized in that, The guide groove (11) is a spiral guide groove.

4. The lunar surface sample collection and processing device according to claim 1, characterized in that, The lead screw (3) is connected to the fixed seat (2) by a key.

5. The lunar surface sample collection and processing device according to claim 1, characterized in that, The rotary drive assembly (4) includes a drive motor (41) and a spur gear transmission pair (42). The drive motor (41) is mounted on the housing (1) and its output end is connected to the driving wheel of the spur gear transmission pair (42). The nut is integrated in the driven wheel of the spur gear transmission pair.

6. The lunar surface sample collection and processing device according to claim 1, characterized in that, A limiting hole (21) coaxial with the lead screw (3) is fixedly provided below the fixed base (2). The sample picking assembly includes a picking claw, a flexible connector (53), and a push rod connector (54). The picking claw includes a first claw body (51) and a second claw body (52) that can be docked as a whole. The push rod connector (54) is located above the limiting hole (21) and is fixedly connected to the lower end of the lead screw (3). The flexible connector (53) includes a first spring (531), a second spring (532), a third spring (533), and a fourth spring (534). The spring (531) and the second spring (532) are fixedly connected to both sides of the fixed base (2), the third spring (533) and the fourth spring (534) pass through the limiting hole (21) and one end is fixedly connected to the push rod connector (54), and the other end is fixedly connected to the free end of the first spring (531) and the second spring (532), the first claw body (51) is connected to the connecting end of the first spring (531) and the third spring (533), and the second claw body (52) is connected to the connecting end of the second spring (532) and the fourth spring (534).

7. The lunar surface sample collection and processing device according to claim 1, characterized in that, The upper outer wall of the housing (1) is provided with a robotic arm docking assembly (8) for rigid connection with an external lunar exploration robotic arm.

8. The lunar surface sample collection and processing device according to claim 1, characterized in that, The outer side of the housing (1) is welded with a storage frame docking assembly (9) for docking with the sample storage frame.

9. The lunar surface sample collection and processing device according to claim 1, characterized in that, The picking claw is adapted to hold lunar rocks with a size of 15mm to 45mm.

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